ignition camera sensor
Table of Content
check camera_sensor.sdf at example worlds
don’t forget world sensors plugin
<plugin
filename="ignition-gazebo-sensors-system"
name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<sensor name="camera" type="camera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>15</update_rate>
<visualize>true</visualize>
<topic>/vehicle/front_camera</topic>
</sensor>
ign topic --list | grep camera
# result
/gui/camera/pose
/vehicle/camera_info
/vehicle/front_camera
# info
ign topic --info --topic /vehicle/front_camera
Publishers [Address, Message Type]:
tcp://172.18.0.1:45921, ignition.msgs.Image
# echo
ign topic --echo -t /vehicle/front_camera
# msg
ign msg --info ign_msgs.Image
Name: ignition.msgs.Image
File: ignition/msgs/image.proto
message Image {
.ignition.msgs.Header header = 1;
uint32 width = 2;
uint32 height = 3;
uint32 step = 4;
bytes data = 5;
.ignition.msgs.PixelFormatType pixel_format_type = 6;
}
ignition image_display#

Add ImageDisplay to sdf#
- Add
ImageDisplayplugin underguitag<plugin filename="ImageDisplay" name="Image Display"> <ignition-gui> <property key="state" type="string">docked</property> </ignition-gui> </plugin>
ros2 bridge#
ros_gz_bridge
https://github.com/gazebosim/ros_gz/tree/humble/ros_gz_bridge
don’t forget to hit play, or Gazebo Sim won’t generate any images
terminal2
ros2 run ros_gz_bridge parameter_bridge /vehicle/front_camera@sensor_msgs/msg/Image@ignition.msgs.Image
terminal3
ros2 run rqt_image_view rqt_image_view /vehicle/front_camera
